US8255106B2 - Method for controlling the regenerative braking of a vehicle including at least one electric motor - Google Patents

Method for controlling the regenerative braking of a vehicle including at least one electric motor Download PDF

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Publication number
US8255106B2
US8255106B2 US12/742,782 US74278208A US8255106B2 US 8255106 B2 US8255106 B2 US 8255106B2 US 74278208 A US74278208 A US 74278208A US 8255106 B2 US8255106 B2 US 8255106B2
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braking
regenerative braking
brake
pdl
vehicle
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US20100299036A1 (en
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Jean-Marie Vespasien
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Renault SAS
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Renault SAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/611—Engine braking features related thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/40—Torque distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present invention relates to the control of regenerative braking in a motor vehicle.
  • the subject of the invention is a method for controlling the regenerative braking of a vehicle equipped with a combustion engine and/or with at least one electric motor.
  • This invention finds applications in any motor vehicle equipped with at least one electric motor and with associated storage means, notably batteries, whether this be a strictly electric vehicle, or hybrid vehicle that comprises a combustion engine associated with at least one electrical machine.
  • the regenerative braking function is generally decoupled from the vehicle brake pedal.
  • the power train (GMP) control system controls the braking effort applied to the wheels by the brake pads to optimize recuperation of energy.
  • the GMP control unit may go so far as to cancel the effort to be applied via the pads (no dissipation of kinetic energy) so as to maximize the recuperation of energy by the electric motor(s).
  • Publication FR 2 230 515 describes such a system, in which the level of regenerative braking is connected to the extent to which the brake pedal is depressed. More specifically, it is the strength of the current that provides the regenerative braking that is directly dependent on the position of the brake pedal, without taking the condition of the vehicle (speed, battery charge level, etc) into consideration. Now, it may be desirable to alter the recharging current under certain circumstances, particularly when the battery is already at a high level of charge, to avoid damaging it.
  • Publication US20020030408 describes another method of controlling the regenerative braking of a vehicle, which is modulated according to the braking demand from the driver, and of a balance ratio between front and rear axle assemblies.
  • the conventional braking system is, however, decoupled from this control, thereby increasing the cost of the system.
  • the way in which the regenerative braking setpoint is calculated does not take account of any engine braking that causes the vehicle to decelerate with the foot off the pedal, and this may lead to discontinuities in the deceleration when switching from a braking phase to a foot-off phase. Drivability can suffer under such conditions.
  • the known methods are unable to optimize electrical energy management in the vehicle and therefore minimize fuel consumption, in the case of a hybrid vehicle, or maximize range in the case of electric vehicles.
  • the invention proposes to calculate a setpoint for the braking force applied by the GMP to the wheels, including the regenerative braking effort, which setpoint is independent of the relationship there is between the degree to which the brake pedal is depressed and the braking effort applied to the wheels by the main brakes of the vehicle.
  • the additional braking effort provided by the electric motors by way of regenerative braking is simply added to the braking effort applied by the main brakes of the vehicle.
  • regenerative braking effort by the electric machines is added to the dissipative braking effort: if the vehicle decelerates too much, the driver lessens his input on the brake pedal, and places less demand on the dissipative braking system.
  • FIG. 1 shows, by way of example, one control architecture for a hybrid vehicle comprising a combustion engine and at least one electric motor,
  • FIG. 2 shows the minimum and maximum envelopes for the effort
  • FIG. 3 illustrates the weighting of the regenerative braking
  • FIG. 4 supplements this illustration
  • FIG. 5 shows how the dissipative braking and regenerative braking efforts are superposed on one another
  • FIG. 6 illustrates an alternative form of the invention.
  • FIG. 1 shows:
  • the GMP control unit takes on the task of interpreting the actions of the driver into setpoints that the actuators can understand.
  • the position of the accelerator pedal is converted into a GMP motor effort setpoint Fr_cons, using the relationship: Fr_cons ⁇ Fr_min — 0+ ⁇ (accel_pdl)*(Fr_max ⁇ Fr_min — 0), in which:
  • the envelope Fr_min_ 0 which characterizes the natural deceleration profile (that is to say the foot-off profile) of the vehicle can be rated to take account of considerations regarding the electrotechnical system (limits on battery power, minimum torque that the electric motor can provide, etc).
  • FIG. 2 depicts in a vehicle speed (Vveh)/force at wheels (F) frame of reference, a curve Fr_max (the maximum envelope of the effort required of the GMP), and a curve Fr_min_ 0 (the minimum envelope with the foot off).
  • Vveh vehicle speed
  • F force at wheels
  • Fr_max the maximum envelope of the effort required of the GMP
  • Fr_min_ 0 the minimum envelope with the foot off.
  • FIG. 3 illustrates another aspect of the invention which relates to the rating of the maximum level of regenerative braking (Fr_min_ 1 ).
  • Fr_min_ 1 the maximum envelope for regenerative braking
  • Fr_min_ 0 the curve of the minimum envelope with foot off
  • the level of the regenerative braking is limited to a level such that eliminating it would prove acceptable to the driver. This contrivance means that the driver does not gain the impression of having defective brakes when there is no regenerative braking.
  • this setpoint is, however, processed, before being applied, in a second module which (as required) saturates it taking account of electrotechnical considerations (battery charge level, etc) and of chassis considerations, the purpose of all this being to guarantee that the vehicle remains stable under all circumstances.
  • the wheel force setpoint thus calculated includes the regenerative braking effort but does not modify the relationship between the extent to which the brake pedal is depressed and the braking effort applied to the wheels by the main braking system.
  • this strategy makes it possible to maintain a fixed relationship between the position of the brake pedal and the pressure applied by the master cylinder.
  • the invention has many advantages.
  • the invention makes it possible easily to introduce a “pre-crash braking” function that consists in detecting an emergency braking situation so as to allow immediate braking, even before the brake pedal is depressed.
  • a “pre-crash braking” function that consists in detecting an emergency braking situation so as to allow immediate braking, even before the brake pedal is depressed.
  • the parameter ⁇ may be a function both of the position of the brake pedal and of the emergency braking indicator, so as to ensure continuity in the regenerative braking. This anticipation makes it possible to reduce the stopping distance of the vehicle while at the same time storing energy.
  • the present invention can therefore be applied to a vehicle which, moreover, is fitted with any type of braking.
  • the invention allows some of the kinetic energy dissipated in the braking phase to be recuperated, without any on-cost associated with the introduction of a decoupled braking system.
  • regenerative braking is now completely transparent to the driver because the regenerative braking setpoint takes into consideration only drivability, with perfect continuity of braking between all driving situations encountered.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)
  • Hybrid Electric Vehicles (AREA)
US12/742,782 2007-11-14 2008-11-12 Method for controlling the regenerative braking of a vehicle including at least one electric motor Expired - Fee Related US8255106B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0759028A FR2923422B1 (fr) 2007-11-14 2007-11-14 Procede de controle du freinage recuperatif d'un vehicule comprenant au moins un moteur electrique
FR0759028 2007-11-14
PCT/EP2008/065418 WO2009062976A1 (fr) 2007-11-14 2008-11-12 Procede de controle du freinage recuperatif d'un vehicule comprenant au moins un moteur electrique

Publications (2)

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US20100299036A1 US20100299036A1 (en) 2010-11-25
US8255106B2 true US8255106B2 (en) 2012-08-28

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US (1) US8255106B2 (pt)
EP (1) EP2209664B1 (pt)
JP (2) JP2011504432A (pt)
KR (1) KR20100094993A (pt)
CN (1) CN101909921B (pt)
BR (1) BRPI0819318B1 (pt)
FR (1) FR2923422B1 (pt)
RU (1) RU2493028C2 (pt)
WO (1) WO2009062976A1 (pt)

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US8523297B2 (en) 2010-12-03 2013-09-03 Nissan Motor Co., Ltd. Brake control system for an electrically driven vehicle

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DE102009056160B4 (de) * 2009-11-27 2021-12-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Steuerung einer Antriebseinheit eines Kraftfahrzeugs
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FR2966115B1 (fr) * 2010-10-19 2012-10-26 Renault Sa Procede et systeme de freinage d'un vehicule automobile a traction electrique ou hybride
FR2971460B1 (fr) * 2011-02-14 2015-05-22 Renault Sa Systeme et procede de freinage d'un vehicule a traction electrique ou hybride
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DE102012215328A1 (de) 2012-08-29 2014-03-06 Robert Bosch Gmbh Bremssteuervorrichtung für ein Fahrzeug und Verfahren zum Betreiben mindestens eines elektrischen Antriebsmotors für ein Fahrzeug
CA2898310C (en) 2013-03-14 2022-07-12 Allison Transmission, Inc. System and method for power management during regeneration mode in hybrid electric vehicles
CA2899497C (en) 2013-03-14 2021-03-16 Allison Transmission, Inc. System and method for optimizing hybrid vehicle battery usage constraints
AU2014241858B2 (en) 2013-03-14 2016-06-09 Allison Transmission, Inc. System and method for engine driveline disconnect during regeneration in hybrid vehicles
CA2898305C (en) 2013-03-14 2021-07-13 Allison Transmission, Inc. System and method for compensation of turbo lag in hybrid vehicles
CA2898300C (en) 2013-03-15 2020-10-27 Allison Transmission, Inc. Service disconnect interlock system and method for hybrid vehicles
CA2898507C (en) 2013-03-15 2021-03-16 Allison Transmission, Inc. System and method for balancing states of charge of energy storage modules in hybrid vehicles
CA2898308C (en) 2013-03-15 2021-01-05 Allison Transmission, Inc. System and method for energy rate balancing in hybrid automatic transmissions
JP6170357B2 (ja) * 2013-07-01 2017-07-26 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
ITBO20130470A1 (it) * 2013-08-30 2015-03-01 Magneti Marelli Spa Metodo di controllo di un veicolo ibrido durante una decelerazione rigenerativa
US9352744B2 (en) * 2014-01-17 2016-05-31 Ford Global Technologies, Llc Hybrid vehicle braking limit determination system and method
EP2902292B1 (en) * 2014-01-31 2019-09-04 Ford Global Technologies, LLC Method and system for controlling the regenerative braking of a vehicle
CN104786851A (zh) * 2015-04-03 2015-07-22 安徽安凯汽车股份有限公司 一种电动客车制动能量高效回收控制方法
JP6642574B2 (ja) * 2015-07-29 2020-02-05 日産自動車株式会社 電動車両の制御装置、および、電動車両の制御方法
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MX2020006159A (es) * 2017-12-15 2020-08-13 Nissan Motor Metodo de control de frenado regenerativo y dispositivo de control de frenado regenerativo.
CN112334356B (zh) * 2018-05-04 2023-06-23 西门子交通有限公司 一种用于列车组的制动的方法
CN112441000B (zh) * 2019-08-16 2022-07-19 华为技术有限公司 一种车辆制动的控制方法和装置
EP4056434B1 (en) * 2021-03-09 2023-09-20 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Method for defining at least one characteristic curve of a pressure-medium-actuated brake system of a vehicle
FR3140817A1 (fr) * 2022-10-17 2024-04-19 Psa Automobiles Sa Surveillance de la consigne de couple récupératif demandée dans un véhicule à machine motrice électrique

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JP5721792B2 (ja) 2015-05-20
CN101909921B (zh) 2013-09-11
FR2923422A1 (fr) 2009-05-15
FR2923422B1 (fr) 2010-05-14
EP2209664B1 (fr) 2019-04-17
RU2493028C2 (ru) 2013-09-20
EP2209664A1 (fr) 2010-07-28
RU2010123889A (ru) 2011-12-20
BRPI0819318A2 (pt) 2015-11-24
US20100299036A1 (en) 2010-11-25
JP2013258905A (ja) 2013-12-26
BRPI0819318B1 (pt) 2019-03-26
KR20100094993A (ko) 2010-08-27
WO2009062976A1 (fr) 2009-05-22
JP2011504432A (ja) 2011-02-10

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